IAI America ROBO Cylinder Series - Manual (Page 68)

5. Modbus RTU
60
Modbus
FC Function Symbol Function Summary
Combination
with PIO
Broad-
cast Page
03
Controller status
signal read 2
(device status 2)
(Operation preparation 1
status)
DSS2
This function reads the following 15 statuses:
[1] Enable
[2] Load output judgment (check-range
load current threshold)
[3] Torque level (load current threshold)
[4] Teaching mode (normal/teaching)
[5] Position data load (normal/complete)
[6] Jog+ (normal/command active)
[7] Jog- (normal/command active)
[8] Position complete 7
[9] Position complete 6
[10] Position complete 5
[11] Position complete 4
[12] Position complete 3
[13] Position complete 2
[14] Position complete 1
[15] Position complete 0
{ 90
03
Controller status
signal read 3
(extended device status)
(Operation preparation 2
status)
DSSE
This function reads the following 9 statuses:
[1] Emergency stop (emergency stop input
port)
[2] Motor voltage low
[3] Operation mode (AUTO/MANU)
[4] Home return
[5] Push-motion operation in progress
[6] Excitation detection
[7] PIO/Modbus switching
[8] Position-data write completion status
[9] Moving
{ 92
03
Controller status
signal read 4
(System status)
(Controller status)
STAT
This function reads the following 7 statuses:
[1] Automatic servo OFF
[2] Nonvolatile memory being accessed
[3] Operation mode (AUTO/MANU)
[4] Home return completion
[5] Servo ON/OFF
[6] Servo command
[7] Drive source ON (normal/cut off)
{ 94
03 Current speed read VNOW This function reads the current actuator
speed in units of 0.01 mm/sec.
{ 96
03 Current read CNOW This function reads the motor-torque current
command value of the actuator in mA.
{ 98
03 Deviation read DEVI This function reads the deviation over a 1-ms
period in pulses.
{ 100
03 Total power on time
read
STIM This function reads the total time in msec
since the controller power was turned on.
{ 102
03
Special input port
input signal status
read
(Sensor input status)
SIPM
This function reads the following 8 statuses:
[1] Command pulse NP
[2] Command pulse PP
[3] Mode switch
[4] Belt breakage sensor
[5] Home check sensor
[6] Overtravel sensor
[7] Creep sensor
[8] Limit sensor
{ 104